[ntcore] NetworkTables 4 (wpilibsuite#3217)

team4099 · Oct 8, 2022 · 77301b1 · 77301b1
1 parent 90cfa00
commit 77301b1
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Showing 380 changed files with 34,085 additions and 21,607 deletions.
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
@@ -15,11 +15,11 @@ jobs:
           - name: asan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
             ctest-env: ""
-            ctest-flags: "-E 'ntcore|wpilibc'"
+            ctest-flags: "-E 'wpilibc'"
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
             ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
-            ctest-flags: "-E 'ntcore|cscore|cameraserver|wpilibc|wpilibNewCommands'"
+            ctest-flags: "-E 'cscore|cameraserver|wpilibc|wpilibNewCommands'"
           - name: ubsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
             ctest-env: ""

diff --git a/cameraserver/build.gradle b/cameraserver/build.gradle
@@ -57,7 +57,7 @@ model {
             if (!it.buildable || !(it instanceof NativeBinarySpec)) {
                 return
             }
-            lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+            project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':cscore', library: 'cscore', linkage: 'shared'
             lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'

diff --git a/cameraserver/multiCameraServer/build.gradle b/cameraserver/multiCameraServer/build.gradle
@@ -55,7 +55,7 @@ model {
             }
             binaries.all { binary ->
                 lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
-                lib project: ':ntcore', library: 'ntcore', linkage: 'static'
+                project(':ntcore').addNtcoreDependency(binary, 'static')
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'

diff --git a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
@@ -175,7 +175,8 @@ public static void main(String... args) {
       ntinst.startServer();
     } else {
       System.out.println("Setting up NetworkTables client for team " + team);
-      ntinst.startClientTeam(team);
+      ntinst.setServerTeam(team);
+      ntinst.startClient4();
     }
 
     // start cameras

diff --git a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
@@ -5,6 +5,7 @@
 #include <cstdio>
 #include <string>
 #include <string_view>
+#include <thread>
 #include <vector>
 
 #include <networktables/NetworkTableInstance.h>
@@ -182,7 +183,8 @@ int main(int argc, char* argv[]) {
     ntinst.StartServer();
   } else {
     fmt::print("Setting up NetworkTables client for team {}\n", team);
-    ntinst.StartClientTeam(team);
+    ntinst.StartClient4();
+    ntinst.SetServerTeam(team);
   }
 
   // start cameras